drivers/can: move CAN utils to CAN common files

Move can_bytes2dlc() and can_dlc2bytes() to a common CAN file
that can be shared between socketCAN implementation and CAN
character driver.

This is the first step to simplifying the logic repeated in
many CAN drivers.

Signed-off-by: raiden00pl <raiden00@railab.me>

drivers/can/CMakeLists.txt

@@ -22,8 +22,12 @@
 
 set(SRCS)
 
+if(CONFIG_CAN OR CONFIG_NET_CAN)
+  list(APPEND SRCS can_common.c)
+endif()
+
 if(CONFIG_CAN)
-  set(SRCS can.c can_sender.c)
+  list(APPEND SRCS can.c can_sender.c)
 endif()
 
 if(CONFIG_CAN_MCP2515)

drivers/can/Make.defs

@@ -22,6 +22,10 @@
 
 # Don't build anything if there is no CAN support
 
+ifneq ($(CONFIG_CAN)$(CONFIG_NET_CAN),)
+CSRCS += can_common.c
+endif
+
 ifeq ($(CONFIG_CAN),y)
 CSRCS += can.c can_sender.c
 endif

drivers/can/can.c

@@ -1547,119 +1547,3 @@ int can_txready(FAR struct can_dev_s *dev)
   return ret;
 }
 #endif /* CONFIG_CAN_TXREADY */
-
-/****************************************************************************
- * Name: can_bytes2dlc
- *
- * Description:
- *   In the CAN FD format, the coding of the DLC differs from the standard
- *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
- *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
- *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
- *   in the range 12 to 64.
- *
- * Input Parameters:
- *   nbytes - the byte count to convert to a DLC value
- *
- * Returned Value:
- *   The encoded DLC value corresponding to at least that number of bytes.
- *
- ****************************************************************************/
-
-uint8_t can_bytes2dlc(uint8_t nbytes)
-{
-  if (nbytes <= 8)
-    {
-      return nbytes;
-    }
-#ifdef CONFIG_CAN_FD
-  else if (nbytes <= 12)
-    {
-      return 9;
-    }
-  else if (nbytes <= 16)
-    {
-      return 10;
-    }
-  else if (nbytes <= 20)
-    {
-      return 11;
-    }
-  else if (nbytes <= 24)
-    {
-      return 12;
-    }
-  else if (nbytes <= 32)
-    {
-      return 13;
-    }
-  else if (nbytes <= 48)
-    {
-      return 14;
-    }
-  else /* if (nbytes <= 64) */
-    {
-      return 15;
-    }
-#else
-  else
-    {
-      return 8;
-    }
-#endif
-}
-
-/****************************************************************************
- * Name: can_dlc2bytes
- *
- * Description:
- *   In the CAN FD format, the coding of the DLC differs from the standard
- *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
- *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
- *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
- *   in the range 12 to 64.
- *
- * Input Parameters:
- *   dlc    - the DLC value to convert to a byte count
- *
- * Returned Value:
- *   The number of bytes corresponding to the DLC value.
- *
- ****************************************************************************/
-
-uint8_t can_dlc2bytes(uint8_t dlc)
-{
-  if (dlc > 8)
-    {
-#ifdef CONFIG_CAN_FD
-      switch (dlc)
-        {
-          case 9:
-            return 12;
-
-          case 10:
-            return 16;
-
-          case 11:
-            return 20;
-
-          case 12:
-            return 24;
-
-          case 13:
-            return 32;
-
-          case 14:
-            return 48;
-
-          default:
-          case 15:
-            return 64;
-        }
-#else
-      return 8;
-#endif
-    }
-
-  return dlc;
-}

drivers/can/can_common.c

@@ -0,0 +1,149 @@
+/****************************************************************************
+ * drivers/can/can_common.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/can/can_common.h>
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: can_bytes2dlc
+ *
+ * Description:
+ *   In the CAN FD format, the coding of the DLC differs from the standard
+ *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
+ *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
+ *   in the range 12 to 64.
+ *
+ * Input Parameters:
+ *   nbytes - the byte count to convert to a DLC value
+ *
+ * Returned Value:
+ *   The encoded DLC value corresponding to at least that number of bytes.
+ *
+ ****************************************************************************/
+
+uint8_t can_bytes2dlc(uint8_t nbytes)
+{
+  if (nbytes <= 8)
+    {
+      return nbytes;
+    }
+#ifdef CONFIG_CAN_FD
+  else if (nbytes <= 12)
+    {
+      return 9;
+    }
+  else if (nbytes <= 16)
+    {
+      return 10;
+    }
+  else if (nbytes <= 20)
+    {
+      return 11;
+    }
+  else if (nbytes <= 24)
+    {
+      return 12;
+    }
+  else if (nbytes <= 32)
+    {
+      return 13;
+    }
+  else if (nbytes <= 48)
+    {
+      return 14;
+    }
+  else /* if (nbytes <= 64) */
+    {
+      return 15;
+    }
+#else
+  else
+    {
+      return 8;
+    }
+#endif
+}
+
+/****************************************************************************
+ * Name: can_dlc2bytes
+ *
+ * Description:
+ *   In the CAN FD format, the coding of the DLC differs from the standard
+ *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
+ *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
+ *   in the range 12 to 64.
+ *
+ * Input Parameters:
+ *   dlc    - the DLC value to convert to a byte count
+ *
+ * Returned Value:
+ *   The number of bytes corresponding to the DLC value.
+ *
+ ****************************************************************************/
+
+uint8_t can_dlc2bytes(uint8_t dlc)
+{
+  if (dlc > 8)
+    {
+#ifdef CONFIG_CAN_FD
+      switch (dlc)
+        {
+          case 9:
+            return 12;
+
+          case 10:
+            return 16;
+
+          case 11:
+            return 20;
+
+          case 12:
+            return 24;
+
+          case 13:
+            return 32;
+
+          case 14:
+            return 48;
+
+          default:
+          case 15:
+            return 64;
+        }
+#else
+      return 8;
+#endif
+    }
+
+  return dlc;
+}

drivers/can/ctucanfd_pci.c

@@ -35,7 +35,9 @@
 #include <nuttx/kmalloc.h>
 #include <nuttx/pci/pci.h>
 
-#include <nuttx/can/can.h>
+#ifdef CONFIG_CAN_CTUCANFD_CHARDEV
+#  include <nuttx/can/can.h>
+#endif
 
 #ifdef CONFIG_CAN_CTUCANFD_SOCKET
 #  include <nuttx/wqueue.h>

drivers/can/kvaser_pci.c

@@ -35,7 +35,9 @@
 #include <nuttx/kmalloc.h>
 #include <nuttx/pci/pci.h>
 
-#include <nuttx/can/can.h>
+#ifdef CONFIG_CAN_KVASER_CHARDEV
+#  include <nuttx/can/can.h>
+#endif
 
 #ifdef CONFIG_CAN_KVASER_SOCKET
 #  include <nuttx/wqueue.h>

include/nuttx/can.h

@@ -33,6 +33,8 @@
 #include <sys/socket.h>
 #include <stdint.h>
 
+#include <nuttx/can/can_common.h>
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/

include/nuttx/can/can.h

@@ -40,6 +40,8 @@
 #include <nuttx/fs/ioctl.h>
 #include <nuttx/mutex.h>
 
+#include <nuttx/can/can_common.h>
+
 #ifdef CONFIG_CAN_TXREADY
 #  include <nuttx/wqueue.h>
 #endif
@@ -1090,46 +1092,6 @@ int can_txdone(FAR struct can_dev_s *dev);
 int can_txready(FAR struct can_dev_s *dev);
 #endif
 
-/****************************************************************************
- * Name: can_bytes2dlc
- *
- * Description:
- *   In the CAN FD format, the coding of the DLC differs from the standard
- *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
- *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
- *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
- *   in the range 12 to 64.
- *
- * Input Parameters:
- *   nbytes - the byte count to convert to a DLC value
- *
- * Returned Value:
- *   The encoded DLC value corresponding to at least that number of bytes.
- *
- ****************************************************************************/
-
-uint8_t can_bytes2dlc(uint8_t nbytes);
-
-/****************************************************************************
- * Name: can_dlc2bytes
- *
- * Description:
- *   In the CAN FD format, the coding of the DLC differs from the standard
- *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
- *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
- *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
- *   in the range 12 to 64.
- *
- * Input Parameters:
- *   dlc    - the DLC value to convert to a byte count
- *
- * Returned Value:
- *   The number of bytes corresponding to the DLC value.
- *
- ****************************************************************************/
-
-uint8_t can_dlc2bytes(uint8_t dlc);
-
 #undef EXTERN
 #if defined(__cplusplus)
 }

include/nuttx/can/can_common.h

@@ -0,0 +1,92 @@
+/****************************************************************************
+ * include/nuttx/can/can_common.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_CAN_CAN_COMMON_H
+#define __INCLUDE_NUTTX_CAN_CAN_COMMON_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: can_bytes2dlc
+ *
+ * Description:
+ *   In the CAN FD format, the coding of the DLC differs from the standard
+ *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
+ *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
+ *   in the range 12 to 64.
+ *
+ * Input Parameters:
+ *   nbytes - the byte count to convert to a DLC value
+ *
+ * Returned Value:
+ *   The encoded DLC value corresponding to at least that number of bytes.
+ *
+ ****************************************************************************/
+
+uint8_t can_bytes2dlc(uint8_t nbytes);
+
+/****************************************************************************
+ * Name: can_dlc2bytes
+ *
+ * Description:
+ *   In the CAN FD format, the coding of the DLC differs from the standard
+ *   CAN format. The DLC codes 0 to 8 have the same coding as in standard
+ *   CAN.  But the codes 9 to 15 all imply a data field of 8 bytes with
+ *   standard CAN.  In CAN FD mode, the values 9 to 15 are encoded to values
+ *   in the range 12 to 64.
+ *
+ * Input Parameters:
+ *   dlc    - the DLC value to convert to a byte count
+ *
+ * Returned Value:
+ *   The number of bytes corresponding to the DLC value.
+ *
+ ****************************************************************************/
+
+uint8_t can_dlc2bytes(uint8_t dlc);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_CAN_CAN_COMMON_H */